Structure and parameter optimization of an active adsorber for decentralized vibration control

A novel mechatronics concept for decentralized vibration control by means of an active absorber is presented. In order to achieve a high dynamic accuracy without spill-over effects an integrated model-based overall optimization both of the hardware and software parameters and of the local placement of the absorber onto the most sensitive points of the mechanical structure is required. Suitable methods both for the experimental model identification and for the structural and parameter optimization are presented. The performance of the mechatronics concept applied to a SCARA type robot is demonstrated by experimental and simulation results